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    A Constrained Lagrange Formulation of Multilink Planar Flexible Manipulator

    Source: Journal of Vibration and Acoustics:;2008:;volume( 130 ):;issue: 003::page 31007
    Author:
    M. Vakil
    ,
    R. Fotouhi
    ,
    P. N. Nikiforuk
    ,
    H. Salmasi
    DOI: 10.1115/1.2827455
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: In this article, the closed-form dynamic equations of planar flexible link manipulators (FLMs), with revolute joints and constant cross sections, are derived combining Lagrange’s equations and the assumed mode shape method. To overcome the lengthy and complicated derivative calculation of the Lagrangian function of a FLM, these computations are done only once for a single flexible link manipulator with a moving base (SFLMB). Employing the Lagrange multipliers and the dynamic equations of the SFLMB, the equations of motion of the FLM are derived in terms of the dependent generalized coordinates. To obtain the closed-form dynamic equations of the FLM in terms of the independent generalized coordinates, the natural orthogonal complement of the Jacobian constraint matrix, which is associated with the velocity constraints in the linear homogeneous form, is used. To verify the proposed closed-form dynamic model, the simulation results obtained from the model were compared with the results of the full nonlinear finite element analysis. These comparisons showed sound agreement. One of the main advantages of this approach is that the derived dynamic model can be used for the model based end-effector control and the vibration suppression of planar FLMs.
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      A Constrained Lagrange Formulation of Multilink Planar Flexible Manipulator

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    http://yetl.yabesh.ir/yetl1/handle/yetl/139605
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    contributor authorM. Vakil
    contributor authorR. Fotouhi
    contributor authorP. N. Nikiforuk
    contributor authorH. Salmasi
    date accessioned2017-05-09T00:31:02Z
    date available2017-05-09T00:31:02Z
    date copyrightJune, 2008
    date issued2008
    identifier issn1048-9002
    identifier otherJVACEK-28894#031007_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/139605
    description abstractIn this article, the closed-form dynamic equations of planar flexible link manipulators (FLMs), with revolute joints and constant cross sections, are derived combining Lagrange’s equations and the assumed mode shape method. To overcome the lengthy and complicated derivative calculation of the Lagrangian function of a FLM, these computations are done only once for a single flexible link manipulator with a moving base (SFLMB). Employing the Lagrange multipliers and the dynamic equations of the SFLMB, the equations of motion of the FLM are derived in terms of the dependent generalized coordinates. To obtain the closed-form dynamic equations of the FLM in terms of the independent generalized coordinates, the natural orthogonal complement of the Jacobian constraint matrix, which is associated with the velocity constraints in the linear homogeneous form, is used. To verify the proposed closed-form dynamic model, the simulation results obtained from the model were compared with the results of the full nonlinear finite element analysis. These comparisons showed sound agreement. One of the main advantages of this approach is that the derived dynamic model can be used for the model based end-effector control and the vibration suppression of planar FLMs.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Constrained Lagrange Formulation of Multilink Planar Flexible Manipulator
    typeJournal Paper
    journal volume130
    journal issue3
    journal titleJournal of Vibration and Acoustics
    identifier doi10.1115/1.2827455
    journal fristpage31007
    identifier eissn1528-8927
    treeJournal of Vibration and Acoustics:;2008:;volume( 130 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian